4/20/2020

Chapter 7. ACCELERATIONS IN MECHANISMS

7.1 Introduction
Acceleration is of interest because of its effect on inertia forces (F=m x A),
which in tum influence stresses in the parts of a machine, bearing loads,
vibration, and noise .
VB/O1
Recall:
B
AB/O1

AnB/O1

O1 AtB/O1

Addition:

7.2 Linear Acceleration

Considering a slider-crank mechanism. The acceleration of point C is to be found.
First, VC is found by:

and
Then, from
= constant
AC is found by:

From O2”:

AtC: direction of the path of motion of point C

AnB: parallel to O2B

AnC/B: parallel to BC, direction from C to B

AC/B From the terminus of AnC/B, drawing a line perpendicular to

BC. Its point of intersection with the horizontal line from
O2” determines the magnitudes of AtC/B and AtC.
B”C” is acceleration image of the link BC.

1
 4/20/2020

For any mechanism there is an image in the acceleration polygon for each link,
which is similar to image for each link in the velocity polygon.
Considering point D on the link 3 of the previous mechanism.

If AD is determined by the same way as

determination of AC,
then we obtain the triangle B”C”D” that
is similar to the triangle BCD.
That means:

Triangle B”C”D” is acceleration image of the link BCD.

Note: If B, C, and D are in a clockwise order on the

link, then B", C", and D" must be in a clockwise order.

AC/B is represented by BC:

𝐴𝐶/𝐵 = 𝐴𝑛𝐶 Τ𝐵 +→ 𝐴𝑡𝐶 Τ𝐵

𝐴𝐶/𝐵 = (𝐴𝑛𝐶 Τ𝐵 )2 + (𝐴𝑡𝐶 Τ𝐵 )2 = (𝐵𝐶 𝜔2 )2 + (𝐵𝐶 𝛼)2

= 𝐵𝐶 𝜔 4 + 𝛼 2

7.3 Angular Acceleration

From
𝐴𝑡
Angular acceleration can be calculated: 𝛼=
𝑅
Example in the previous slider- crank
mechanism:

= constant

𝐴𝑡 C/B is directed upward, then

point C is accelerating upward in a
direction tangent to its path of
motion relative to B,
and hence 3 is counterclockwise.
AC/B

2
 4/20/2020

Example: The angular velocity and acceleration of link 2 are given. The
acceleration of points C, D, and E are to be determined along with
the angular accelerations of links 3 and 4 .

Trial-and-error method
Example: Suppose VE and AE are known and AB is desired.

First, we find AC as follows:

Since there are more than

two unknowns in the vector
equation, this equation we
cannot be solved alone.
However, the acceleration
image for link 3 can be
found by trial.

3
 4/20/2020

7.4 Equivalent Linkages

For a direct-contact mechanism, the problem can be simplified by replacing the
mechanism by an equivalent four-bar linkage.
An equivalent four-bar linkage has links whose angular velocities and
accelerations are identical at the instant to the corresponding links of the original
mechanism. N-N: common normal at the contact point.
C2 and C4: centers of curvature of bodies 2
and 4, respectively, for their points of
contact P2 and P4.
If the pin connection for links 2' and 3' is
located at point C2 and the pin connection
for links 3' and 4' islocated at C4, then 1, 2',
3', and 4' constitute an equivalent four-bar
linkage. That means:
2’ = 2 then 4’ = 4
If
2’ = 2 4’ = 4
This is because C2 and C4 belong both the original linkage and the equivalent four-bar linkage,
C2C4 can be seen as a rigid link. Therefore, the propertiers of motion of C2 and C4 as belonging
to original linkage is similar to that as belonging to quivalent four-bar linkage at the instant.

Any direct-contact mechanism has an infinite number of equivalent four-bar linkages.

Example: O2C2C4O4 is an equivalent four-bar linkage as mentioned in the previous slide.

Another equivalent four-bar linkage can be determined as follows:
Point E is any point on link 4 or an extension of it.
Point D is the center of curvature of this path of E on 2.
If link 4 is a point follower (shown shaded) and the path is used for the outline of body
2, then the new body 2 and the point follower have angular velocities and
accelerations identical to those of the original mechanis.
And the equivalent mechanism is now O2DEO4.

4
 4/20/2020

Some other equivalent four-bar linkages

Some other equivalent four-bar linkages

5
 4/20/2020

Some other equivalent four-bar linkages

7.5 Accelerations for members in rolling contact

Considering disk 2 which rolls on stationary body 1.
Suppose 2 and 2 are known.
To be found: acceleration of P2, a fixed point on body 2

P2 is an instant center, VP2 = 0.

Where:

𝑑𝑉𝐶𝑡 𝑅𝑑ω
𝐴𝑡𝐶 = = 
𝑑𝑡 𝑑𝑡

From the pole O”, drawing the vectors on

the right hand of the vector equations.
Then, the vector AP2 is obtained which is
directed along the normal at the point of
contact.

6
 4/20/2020

- In case the surface of body 1

is concave.
Similar vector equation can be
observed, except that:

- In case the surface of body 1 is flat, then R1 will be infinite:

- In case the outlines of either or both bodies are not circular, but have
changing curvature along their length, then Rl and R2 are taken as the radii
of curvature at the point of contact.

7.6 Coriolis acceleration

A point in one body moves along a path on a second body, if the second body is
rotating, then the acceleration of the point in the first body relative to a coincident
point in the second body will have a Coriolis component.
Let’s consider the figure on the left:
P3: on slider 3, moves along OF, OF in body 2.
P2: fixed point on OF, coincident with P3 at
the instant.
In a time interval dt ( d): P3  P3’
Considering P3  P3’ as the sum of motion
P2  P2’, P2’  B, B  P3’.
but

then

On the other hand:

This Eq can be withdrawn
or

A is called the Coriolis component of acceleration for

point P3.

7
 4/20/2020

The Coriolis acceleration has the direction of VP3/P2 after VP3/P2 is rotated 90° in
the direction of the angular velocity of the path.

Example of Coriolis component of acceleration:

P2 is fixed point in 2
P3 is in 3 which is moving relative to 2.
Let’s consider the figure on the left:
P3: on slider 3, moves along OF, OF in body 2.
P2: fixed point on OF, coincident with P3 at
the instant.

or

in which:
2VP3/P2.2: Coriolis component, part of the
acceleration of P3 relative to P2.

8
 4/20/2020

Example of Coriolis component of acceleration:

A quick-return mechanism is shown, link 2 is the driver, and the angular velocity
and acceleration of link 4 are to be found.
Let P2 and P4 be fixed points on links 2 and 4 which are coincident at the instant.
We can find: VP2 = 0.151 m/s and (from the velocity polygon) 4 = 0.144 rad/s ccw
Acceleration of P4:

where:

can be found by drawing acceleration polygon

Example of Coriolis component of acceleration:

A cam with oscillating follower is shown below in which the angular velocity and
acceleration of the cam are indicated, the angular acceleration of link 4 needs to be
found.
Let P2 and P4 be points on links 2 and 4
which are coincident at the instant.
P4 is the axis of the roller, and the path
which it describes on 2 is shown.

From the velocity polygon:

Acceleration of P4:

Then by the same way as previous

example, angular acceleration of link 4 is
determined:

9
 4/20/2020

7.7 Hartmann’s construction and Euler- Savary equation

From these examples above, we note that to find the angular acceleration of driven
link by acceleration polygon it is normally to know the path of its point that
describes on the driver link or the radius of this path.
For example:

One component needs to calculated:

Radius of curvature for the path

of P3 describing on body 2.
Center of curvature for the path of P3 describing on body 2.

Hartmann's construction is a graphical method for finding the center of curvature for
the path of any point of one body describing on another .
Euler- Savary equation is used to calculate radius of that curvature.

Hartmann’s construction
The path which a point in one body describes on another depends only on the relative
motion of the bodies. Hence when using the Hartmann construction, we can hold one of
the bodies fixed and consider the motion of the other body relative to it.
t and n axes: common tangent and common normal of
the centrodes. (Direction of line connecting centers of
n 2 curvatures that contact at contact point is common
P3 normal direction. Line perpendicular to common
VP3 normal direction is common tangent)
P3: an arbitrary point on body 3 (body 3 moves in
relation to body 2
V23 23 t 23: instant center of 2 bodies
VP3: velocity of point P3 of the moving plane
V23: transfer velocity of the instant center (not the
V’23 same as velocity of the instant center).
As body 3 moves on 2, a new instant center 23 exists
for each point of contact. The velocity with which 23
C propagates along the outline of body 2 is V23.
V’23: component of V23 parallel to VP3.

Then, the center C of path curvature for the path of P3 is the intersection point of the
line through the tips of vectors VP3 and V’23 and P3-23.

10
 4/20/2020

Example: Body 3 rolls on body 2, assume that body 2 is fixed. C2 and C3 are centers of
cicular oulines of the bodies. P3 is any point on 3.
The center C of the curvature of the path of P can be determined as follows:

Determing instant center 23

Drawing VC3 at any convenient scale,
VC3 = [23-C3]. = e.
Drawing VP3, VP3 = [23-P3]. =f. (or
determing VP3 by rotation of radius
method as we have known VC3 )
V23 goes through 23 and parallel to VC3.
Its magnitude is determined by drawing
a line from C2 to the tip of VC3.
V’23 is determined by projecting V23 on
the direction of VP3.
A line from the terminus of VP3 and V’23
intersects line P3 -23 at C.
C is the center of curvature for the path
which P3 describes on body 2, then CP3
is the radius of curvature of the path.

Example: A mechanism is shown below, need to find the center C of curvature of the
path which P3 describes on body 2.
C2 and C3 are the centers of curvature for the
outlines of bodies 2 and 3.
C can be determines in the same manner as
explained in the previous slide.
Note: in this case, 2 is not given then VC3 is
assumed in either direction at any convenient
length; and angle  = 900 then V’23  V23.

11
 4/20/2020

Example: A mechanism is shown below, need to find the center C of curvature of the
path which P4 describes on body 2.

C can be determines in the same manner as

explained in the previous slide.
Note: C4 is the center of curvature for link 4
and lies at infinity.
We hold link 2 fixed and consider the motion
of link 4 relative to 2.
Line from 24 to the tip of VC4 can be drawn
at any convenient angle to line 24-C4.

Euler- Savary equation

This equation gives the location for the center C of curvature of the path of the point
considered in the previous examples.
Let C2 - 23 = d; 23 - C3= e; 23-P3= f; C -23 = g,  is the angle which P3-23 makes
with T-T, then and

Each of the lengths is to be considered positive if it extends in the same direction

that we would move if we went from body 2 to body 3 at the point of contact.

12
4/20/2020

13